/*
 * autonomousSystem.h
 *
 *  Created on: Jan 6, 2011
 *      Author: Robotics
 */

#ifndef AUTONOMOUSSYSTEM_H_
#define AUTONOMOUSSYSTEM_H_
#include "LineSensorArray.h"
#include "MultiPIDController.h"
#include "PIDController.h"
#include "Encoder.h"
#include "Jaguar.h"
#include "DriveSystem.h"


class AutonomousSystem
{
	public:
		AutonomousSystem(DriveSystem*, ManipulatorSystem*);
		~AutonomousSystem();
	bool followLine(float,bool);
	bool raiseArm(float, float);
	void recordValues(KHSJoystick*);
	void disable();
	
private:
	LineSensorArray m_lineSensorArray;
	MultiPIDController m_PIDLeft;
	MultiPIDController m_PIDRight;
	DriveSystem* mptr_driveSystem;
	ManipulatorSystem* mptr_manipulatorSystem;
	





};


#endif /* AUTONOMOUSSYSTEM_H_ */
